Safe OnGO-VIC: Online Gain Optimization for Variable Impedance Control
Contents
- Contents
- Introduction
- Experiment 1 (Collision Avoidance): Videos
- Experiment 2 (Surface Contact): Videos
- Experiment 3 (Surface Wiping): Videos
Introduction
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We present a safe gain optimization algorithm for variable impedance control. The algorithm is able to obtain the optimal impedance gain without manully tuning and avoid unwanted collisions in real-time. Check out our webiste page here. |
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Experiment 1 (Collision Avoidance): Videos
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| Constant Gain Baseline (CGIC) | Safe OnGO-VIC |
Experiment 2 (Surface Contact): Videos
Performance on a Plastic Board
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| Constant Gain (CGIC) | Adaptive Law (AVIC) | Safe OnGO-VIC |
Performance on a Metal Board
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| Constant Gain (CGIC) | Adaptive Law (AVIC) | Safe OnGO-VIC |
Performance on a Wood Chair
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| Constant Gain (CGIC) | Adaptive Law (AVIC) | Safe OnGO-VIC |